According to officials in charge of China's manned space engineering, the module landed in Badain Jaran Desert in Inner Mongolia Autonomous Region at 3:41 pm.
Before its landing, the re-entry module, which weighs about 2,600 kilograms, spent about 20 hours in orbit, state-run Xinhua reported.
Recovery of the module laid a solid foundation for technological breakthroughs in designing future manned spacecraft.
It also means the Long March-7 has fulfilled all the objectives of its maiden flight, officials said.
The 53-meter, 597-tonne, vertical-standing rocket was launched from Wenchang launch centre. It is a medium-sized rocket that can carry up to 13.5 tonnes to low-Earth orbit.
It uses a new liquid fuel that is environmental friendly and less expensive, official media reports said.
It is expected it will become the main carrier for China's space missions.
Its main role in the future will be to transport cargo ships to China's planned space stations, due to enter service around 2022, as well as satellites and other spacecraft, the Xinhua report said.
The Wenchang site was completed in November 2014.
It has a launch pad for the Long March-7 and another for the new generation heavy-lift Long March-5, which has a payload capacity of 25 tonnes to low Earth orbit, or 14 tonnes to geostationary transfer orbit.
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